System and method for object motion detection based on multiple 3D warping and vehicle equipped with such system

ABSTRACT

The present invention relates to a technique for detecting dynamic (i.e., moving) objects using sensor signals with 3D information and can be deployed e.g. in driver assistance systems.

FIELD OF INVENTION

The present invention relates to a technique for detecting dynamic(i.e., moving) objects using sensor signals with 3D information and canbe deployed e.g. in driver assistance systems.

Driver assistance systems are control systems for vehicles (cars,motorbikes, planes, boats, . . . ) or intelligent vehicle technologiesthat aim at increasing the comfort and safety of traffic participants.Potential applications of such systems include lane departure warning,lane keeping, collision warning or avoidance, adaptive cruise controland low speed automation in congested traffic.

Document [12] describes a typical application of such a system, acomplex Advanced Driver Assistance System (ADAS), that in importantaspects searches inspiration in the organization and the features of thehuman brain. A structure of such a driver assistance system is describedin detail, highlighting typical challenges such a system is faced within real world outdoor scenarios. The real time capability of the systemis shown by integrating it in a prototype vehicle. It is applied in arather typical traffic scenario where the system issued an autonomousbraking of the carrying vehicle. The described system relates to theinvention insofar as is shows the typical challenges such a system isfaced with. Furthermore, a rather comprehensive background to thetechnical state-of-the-art in driver assistance is given.

Driver assistance systems in the context of the present invention canthereby “assist” an action triggered or performed by a driver, but canalso autonomously start and carry out a control action for the vehicle.In the latter case the driver assistance system outputs a control signalto one or more actuators of the vehicle. A vehicle in this sense isdriven by a human driver who takes into account the feedback provided bythe assist system(s).

The driver assistance system can be provided with information on theenvironment of the vehicle, the status of the vehicle and the driver.This information is supplied by sensors sensing e.g. visually theenvironment of the vehicle.

The application of the invention which will be used for illustrationpurposes in the present specification is the car domain. However, theinvention is not limited to this application domain, but can also beapplied to other domains as airplanes in the take off or landing phaseor for mobile robots. Also in these domains the detection of dynamicobjects is of vital importance for safe operation.

BACKGROUND

Driver assistance systems are already a very valuable support for thedriver and will be even more so in the coming years. Driver assistancesystems operate with and in the vicinity of human beings, which leads tohigh safety requirements, when a driver assistance system is able tomake decisions and autonomously generate behavior (e.g., autonomousbraking after the detection of an obstacle on the lane). The vehicledomain can be subdivided into dynamic (e.g., cars, bicycles) and staticobjects respectively static scene elements (e.g., parking cars, road,buildings).

For all static scene elements the system has to cope with the inaccuracyof measurements (i.e., the sensor variances), for whose compensation anumber of efficient, well-known approaches exist (e.g., Kalman filter[1] for making approaches more robust that rely on noisy input data, asmodel-based lane marking detection systems [2]).

For dynamic scene elements in addition to the handling of sensorvariances the object induced motion must be taken into account. In thefollowing, the motion of such dynamic objects will be called “objectmotion”, as opposed to the “vehicle ego motion” of the car that carriesthe ADAS (Advanced Driver Assistance System, see document [12]summarized above for comprehensive background information on this termand an exemplary ADAS for assisting the driver) and sensory devices.Said dynamic objects are highly relevant for a driver assistance system,since unexpected motion of dynamic objects can result in dangeroussituations that might injure humans. Hence, approaches which robustlygather information about scene elements that are dynamic, are highlyrelevant for driver assistance systems.

Once the scene is subdivided into static and dynamic scene elements forall dynamic objects the object motion can be modeled in order toincorporate it into the behavior generation and planning of the driverassistance system (e.g., usage of dedicated motion models for estimatingthe trajectories of dynamic object and including them into the collisionmitigation module).

Vision-based approaches in the surveillance domain use differentialimages for detecting dynamic objects. Here, an image at time t issubtracted by the one at time t−1. But due to the ego motion of thecamera the differential images cannot detect dynamic objects reliably,as it is shown in FIG. 4. The vehicle ego motion causes a change innearly all image pixel positions, making a reliable separation betweenvehicle ego motion and object motion impossible.

Other approaches [6] combine the optical flow with the disparity map ofa stereo camera system based on Kalman filters, which provides the 3Dposition and 3D velocity of single points in the image. These singlepoints are used to compute the ego motion of the camera vehicle overmultiple frames. However, the motion of other objects is computed basedon optical flow computation between a predicted 2D warped pixel imageand the current image.

In document [13] a system for the detection of moving humans in anindoor environment is described. The system is carried by a mobile robotthat fulfils a surveillance task. The system is based on a camera setupof 36 stereo cameras that allow 360 degree surveillance.

Typical systems for the detection of dynamic objects compute the opticalflow (pixel-wise correlation of two consecutive images deriving themotion magnitude and direction on the image plane) between a predicted(warping of the previous image, counteracting the ego-motion of therobot) and the current captured image. The optical flow will bedifferent from zero for image regions containing dynamic (i.e.ego-propelled) objects.

Opposed to that the system described in document [13] relies on stereodata for the computation of a depth map of the scene. Using the depthmap of the previous frame and dead reckoning the ego-motion iscompensated, leading to a predicted depth map. Computing the differencebetween the predicted and measured depth map results in differentialdepth map (in image coordinates) that shows unexpected peaks at regionscontaining dynamic objects. However, the question as to how theresulting depth map is post processed remains unanswered because eachmoving object will cause 2 regions of changed depth (the new positionand the old position). In a comparatively static indoor scene simpleheuristics might be applicable to solve the problem of finding thecurrent object position. Still, this point stays open.

The system of document [13] relates to the invention insofar as that theimportant role of stereo information for the detection of dynamicobjects is recognized. However, the approach works on the depth map andtherefore in image coordinates, as typical optical-flow-basedimage-warping-approaches. As opposed to classical approaches acorrespondence problem arises, since all moving objects influence thedifferential depth map twofold (peak on the old and the new objectposition, no information in the differential depth map present to derivewhich position is which). Furthermore, the domain of application isindoors on a mobile robot platform with the central application ofsurveillance of humans. With such a specific task and a ratherstructured environment, the detection task is eased considerablyallowing the detection system to be tuned to its environment (search forobjects in the height of humans, typical object size-related constraintsare exploited, camera system is designed to detect close objects alone).

A somewhat related system for the detection of dynamic objects ispresented in [14] being mounted on a mobile robot. The presentedapproach is based on a computed dense optical flow field and densestereo disparity computed from the images of a pair of calibrated stereocameras. Different from the system laid out in [13] the system computesan expected disparity map (the raw data for computing depth information)taking into account the ego-motion of the vehicle and compares this tothe measured disparity map by computing a kind of “disparity flow”.Modulo noise at a region containing a residual disparity flow marksdynamic objects. Summarizing, the approach computes the so-called 3Dego-flow (as stated explicitly by the authors, this should not beconfused with 3D coordinates in X-Y-Z sense, see Section 2 of [14]),which is the 3D field of changes in u and v-image coordinates as well asthe change in disparity.

Another approach using the optical flow to estimate dynamic objects isdescribed in [7]. Here, the current image, at time t, is pixel-wiselyback projected to the image at time t−1, taken the known ego movementinto account and assuming that the overall scene is static. Afterwardsthe optical flow is used to detect dynamic objects by using the imaget−1 and the image at time t back projected to t−1. The resource demandsfor the method are even higher as with the approach described before,because the transformation of each image pixel has to be donebeforehand. Also the optical flow detection of dynamic objects is suitedfor lateral movement only, which leads to poor results in case dynamicobjects move longitudinally in the depth direction.

A method which uses only disparity as information is described in [8].The algorithm integrates previous disparity frames with the current onebased on a pixel wise Kalman filtering method. Additionally, the changeof disparity (i.e. position change in depth direction) is added in theprocess model of the Kalman filter. However, no lateral and verticalmovements can be modeled. The approach is targeted at improving thedepth information, while trying to solve the problem that previousapproaches generate incorrect depth estimates for moving objects.Summarizing, the approach aims at gathering a dense depth map, withreduced errors by applying temporal integration. As a byproduct, dynamicobjects can be detected, but only in case no lateral object motion takesplaces on the image plane.

All these methods rely on the optical flow for object motion detection,hence searching for pixel wise changes on the image plane. It isimportant to note, that the optical flow is resource demanding as wellas error prone, especially at the borders of the image. However, thecentral problem and flaw of the warping approach with optical flow isthat only object motion lateral to the movement of the ego cameravehicle can be detected (e.g., a bicycle crossing the road in front).However, motion that is oriented longitudinal to the vehicle course cannot be detected, since there is no measurable lateral motion on theimage plane and hence no optical flow present (e.g., a vehicle drivingon the road in front brakes hard and gets nearer).

OBJECT OF THE INVENTION

The invention proposes an efficient approach to detect dynamic objectsin a signal representing the environment (“scene”) of a vehicle.

This object is achieved by means of the features of the independentclaims. The dependent claims develop further the central idea of thepresent invention.

A first aspect of the invention relates to a method for detectingdynamic objects in a scene representation e.g. in a driver assistancesystem of a vehicle, comprising the steps of:

-   -   supplying signals from internal and external sensors of a        vehicle, wherein at least one external sensor is a 3D sensor,    -   generation of a scene model in 3D world coordinates based on the        supplied external sensor signals,    -   predicting the scene model in 3D world coordinates taking into        account the measured ego-motion of the vehicle,    -   comparing the predicted scene model with a scene model in 3D        world coordinates based on external sensor signals in order to        detect the location of dynamic objects in the scene        representation as well as their motion parameters, respectively,        expressed in 3D world coordinates, and    -   storing the detected dynamic objects and their motion        parameters.

The step of predicting the scene model in 3D world coordinates takinginto account the measured ego motion of the vehicle may use informationgained from sensors for the longitudinal velocity and yaw rate of thevehicle.

The step of predicting the scene model in 3D world coordinates in takinginto account the measured ego motion of the vehicle can comprise one ormore of the following steps:

-   -   a) Iconic 3D warping directly on the 3D world coordinates        computed the sensor signals,    -   b) use of top-down knowledge of scene knowledge, wherein known        static objects are handled independently,    -   c) region-based 3D warping that allows the inclusion of scene        knowledge in form of environmental models and plane models in        order to decrease noise in the sensor signals (measured noise of        the depth values), and/or    -   d) using an environmental envelope for the planes of interest to        reduce the complexity of the 3D warping procedure.

Information from a 3D depth sensor such as e.g. rotating laser scannercan be used to generate the external sensor signals.

Information from a 2D depth sensor such as e.g. Photonic Mixer Devicecan be used to generate the sensor signals.

Information from a 1D depth sensor such as e.g. a laser scanner can beused to generate 3D data.

Information from a satellite-based navigation system may be used togenerate 3D data and/or for generating environmental information.

A further aspect of the present invention relates to a driver assistancecomputing unit, designed to carry out a method according to any of thepreceding claims.

A still further aspect relates to a vehicle being equipped with such adriver assistance computing unit.

Yet a further aspect relates to a computer program product, implementinga method as explained above when run on a computing unit.

The invention also proposes a driver assistance system with a modelgeneration apparatus, the model generation apparatus comprising:

-   -   at least one 3D sensor for supplying environmental signals to        the driver assistance system,    -   computing means for generating a 3D world model based on the        signals of the at least one 3D sensor and means for detecting        dynamic objects based on the sensor signals in the 3D world,    -   storing means for storing the detected dynamic objects and their        motion parameters,    -   means for determining whether to carry out an driver assistance        action based on the detected dynamic objects, and    -   means for carrying out a driver assistance action.

The sensors may comprise video cameras.

The driver assistance action may be an emission of a warning message.

Opposed to known methods, the here described approach is based on depthdata as well as internal sensor data (e.g., ego vehicle velocity) aloneand no restrictions regarding the supported object motion (lateral,longitudinal) exist.

The described approach is different from the existing approaches in thefollowing points:

-   -   No computational demanding optical flow (processing of a stream        of video data) is needed, which reduces the computation time and        increases quality. (According to www.wikipedia.en.org “Optical        flow or optic flow is the pattern of apparent motion of objects,        surfaces, and edges in a visual scene caused by the relative        motion between an observer (an eye or a camera) and the scene”.)    -   Known optical flow-based approaches can detect object motion        that is orthogonal to the ego vehicle motion (lateral motion).        Different from that the proposed approach also detects object        motion in the direction of the ego vehicle (longitudinal motion        direction).    -   Different from optical flow-based approaches that detect object        motion on the image plane (i.e., in pixels in the perspective        image), the proposed approach delivers information of the object        motion in 3D world coordinates (i.e., magnitude and direction in        meters). Hence, instead of predicting the pixel-wise motion of        image pixels (called warping) the described approach runs on and        predicts 3D world coordinates directly (in the following called        3D warping as opposed to the pixel-wise warping on the image        plane).    -   As opposed to optical flow based approaches once a dynamic        object is detected its motion in 3D coordinates is accessible.        Optical flow based approaches give object motion in pixel        coordinates on the image plane only.

Further aspects, objects and advantages of the present invention willbecome evident for the skilled person when reading the followingdetailed description of preferred embodiments of the invention whentaken in conjunction with the figures of the enclosed drawings.

FIG. 1 shows dense 3D data of a scene, i.e. the environment of avehicle, produced e.g. by a still or video camera.

FIG. 2 illustrates a single track model of a car.

FIG. 3 shows an overview of a system according to the present invention.

FIG. 4 shows two consecutive images in superposition in order toillustrate potential difficulties of differential images as feature fordetecting dynamic objects.

TERMS AND DEFINITIONS (GLOSSARY)

In the following, terms used throughout the description are defined.This glossary should facilitate a better understanding of the presentinvention.

Top-Down Knowledge:

Information coming from other modules in the system with higher level ofinformation integration, e.g. the environmental model representing alldetected objects.

Driver Assistance System (DAS):

A system supporting a driver in typical driving tasks as well as indangerous situations. Following German traffic laws(Straβenverkehrsordung StVO) the DAS reactions must stay controllableand must allow overruling influence by the driver. Based on that fullyautonomous behavior generation is not possible for DAS on the market.Often warning systems of a car are implementations of DAS.

Advanced Driver Assistance System (ADAS):

A Driver Assistance System that incorporates numerous modules and linksbetween modules. All these components are integrated into a complexframework of sensors, computational hardware and actors that all areintertwined and interact. As opposed to that a conventional DriverAssistance System is marked by a restricted complexity and a lack ofinterfaces for the sharing of information with other modules in thevehicle. Additionally, a conventional Driver Assistance System istargeted at a single task and application area (e.g. highway).

Environmental Envelope:

The X-Z plane (horizontal position coordinate and depth) is anaggregated part of the 3D voxel cloud. Still the environmental envelopeis represented in the 3D domain (height Y is constant) and is notprojected to the image for detecting dynamic objects. Therefore, theenvelope is an illustration for the border line to the first objects inan X-Z plane. The number of X-Z planes with different heights can varyand also be used to approximate certain height intervals in one or moreX-Z planes. The environmental envelope contains a subset of 3D positioncoordinates for all scene objects. No gray value pixels from a cameraare remapped but the height value Y. An environmental envelope also doesnot depend on any image feature (e.g. color, structures)—it is computedbased on 3D data alone.

External Sensor:

Can be any kind of depth sensor, such as 3D depth sensor (e.g. rotatinglaser scanner), a 2D depth sensor (e.g. Photonic Mixer Device), a 1Ddepth sensor (e.g. a laser scanner), Stereo camera, etc. Also anavigation system can be seen as an external sensor, thus it can providedetailed information about the environment. Therefore, a navigationsystem can be a virtual external sensor, using the current GPS positionand its map data to provide depth information of the currentsurrounding. In general, the meaning for external sensor is a sensorthat gathers/provides information of the surrounding environment.

Internal Sensor:

In general, this is a sensor that gathers/provides information ofvehicle movement independent of information from the environment. Thiscan range from a simple speed indicator (measuring the wheel rotation)up to a ring laser gyroscope for the angle of rotation.

Internal Sensor Data:

Internal sensor data is data which is produced by sensors detectingstates and characteristics of the vehicle itself.

Prediction in Future/Passed Time:

For detecting ego-moved objects in general two ways of prediction exist.On the one hand, the straight forward approach, were the scene model attime t−1 is predicted into the next time step t in the future (forwardwarping). Afterwards, the prediction is compared with the measurementand the ego moved objects extracted.

On the other hand, the measurement of the current time step t can beprojected to the previous time step t−1, which we refer to the passedtime (or backward warping). And the previous measurement is comparedwith the projection and the ego moved objects extracted.

Scene Model:

Based on other processing modules, like the current scene context (e.g.highway, country road, inner city) and measurements from the currentsurrounding environment, certain models can be learned or extracted. Tothis end, when driving on a highway the guardrails can be extracted by acombination of measurement and knowledge incorporation. Additionally, adata driven approach can be used fitting typical geometric shapes to themeasured data.

Scene Representation (also 3D Representation):

A 3D representation abstracts from the sensor layer and is not bound toa single sensor. To this end, a 3D representation can be a 3D-grid, avoxel-graph, etc. Therefore, a 3D representation maps a certain part ofthe surrounding environment to its internal memory, but decoupled of thesensor layer.

DETAILED DESCRIPTION OF EMBODIMENTS

The invention proposes a 3D warping approach which is a novel robustprocedure for detecting dynamic objects and computing the magnitude ofobject motion based on sensors delivering a representation of theenvironment (“scene”) in 3D world coordinates (e.g., disparityinformation coming from stereo cameras [3], Photonic Mixer Device [4],or a dense laser scanner (e.g., the high definition Lidar sensorVelodyne [5])).

The inventive system uses depth sensors (e.g. two cameras) that sensethe environment in driving direction of the vehicle. While “frame-out”(i.e., an object gets out of view) occurs, an additionally incorporatedenvironmental model also contains objects detected in the past that arepredicted when out of view of the cameras. The inventive system allowsfor a real-time application since computational costs are considerablylow. Moreover, the system is designed for outdoor application insteadily changing environments where objects previously unknown to thesystem need to be assessed immediately. The system hence is designed forlong-range application needed in the car domain, e.g., to allow thedriver to react in time based on the feedback from the assist system toprevent an accident.

The inventive system is primarily designed to be installed in car andhence is able to deal with changing weather and/or illumination, highvelocity of the vehicle and other dynamic objects. In this it goesbeyond the functionality of common indoor systems, as e.g. described indocument [13]. Operation in indoor environments restricts the complexityof performed detection tasks. On the other hand, such indoor scenes aremuch more stable and are marked by rather low complexity in terms of the3D structures. Fully autonomous vehicles such as mobile robots which arenot required to move fast can use abundant computing resources, while nohard real-time requirement is present. Furthermore, the well-structuredindoor environment allows numerous restrictive assumptions not availablefor the car domain. This is due to the fact that strict real-timerequirements exist while the system runs in a complex, ratherunstructured environment under changing environmental conditions. Hencenovel, elaborate approaches are required.

The detection of objects in the inventive system happens in a 3D spaceand not simply in image coordinates derived from depth images (depth isonly one dimension of the 3D space). Therefore, the inventive systemuses 3D coordinates (e.g. voxel clouds) because of which a occlusionphenomenon is not present during the prediction step. In previoussystems using image coordinates (spherical image), the occlusionphenomenon is a problem (cf., e.g., document [13], occlusion is causedby static and dynamic objects when a system works in image coordinatesystems). An approach for solving this problem may be shown in document[13] for static objects, but not for dynamic objects. An advantage ofthe use of 3D coordinates throughout the system (in obtaininginformation, for the scene representation and in a following predictionstep) is that no transformation of image data into a 3D space isrequired.

While previous systems do not abstract from the sensor layer and performcomputations directly in camera coordinates (on the image plane), theresult of which is another camera image (differential depth image incamera coordinates), the inventive system relies on a 3D representation.The 3D representation abstracts from the sensor layer and is not boundto a single sensor. The 3D representation in this sense is a 3D-grid, avoxel-graph, etc. A depth map obtained by previous systems can, however,not be considered as a 3D scene representation in the sense of theinvention. The depth map is organized in image coordinates; it containsthe Z coordinate of the scene projected by non-linear equations to theimage plane. Opposed to that, the presented algorithm runs on 3Dcoordinates (X, Y, Z) building e.g. a 3D voxel cloud. An advantage ofthis approach is that the 3D motion parameters (motion magnitude and 3Ddirection) of dynamic objects can be determined. From a depth map onlyimage regions containing dynamic objects without further information ofthe motion parameters can be determined.

The detection results in common systems often are image regions withchanges in depth. The gathered results, however, are ambiguous (i.e. howmany moving objects are present? Were is the old and where is thecurrent object position?). This should be clarified by an example.Imagine a person moving from left to right. This causes a depth increaseon the left and a depth decrease on the right. The same result would bemeasured in case of 2 persons (one left of the camera, the other rightof the camera) changing their distance to the camera diametrically. Asin the case of the person moving from left to right, the differentialdepth map holds a peak at the old and the new object position. Based onthe differential depth map alone, this problem can only be solved in awell structured, rather simple environment such as an indoor scenario.For more complex scenarios as in the car or traffic domain theinterpretation of the ambiguous differential depth map is impossible.The invention instead derives unambiguous 3D motion parameters (motionmagnitude and direction) of detected dynamic objects, since the dynamicobject detection is done in 3D space.

Also, while previous systems rely on image data, which is required toextract the texture/edges and do a correspondence search for the slantrecovery, the invention does not require any image data but only depthinformation. Furthermore, the yaw and pitch angles of camera do not needto be estimated to recover the slant.

The present invention also has no immanent restriction of the detectableobject class. The movement of every object of every magnitude anddirection is supported. Other system restrict their search space ofmoving objects to humans or other specific object classes and thereforethese approaches make (and are able to make) certain assumptions aboutthe appearance (e.g., height, width, etc.) of moving objects. This,obviously, is not suitable for the inventive system applied in the cardomain.

In a nutshell, the detection of dynamic objects is based on thecomparison of predicted (i.e., 3D warped) and measured 3D data of thescene. More specifically, in the 3D warping procedure the 3D worldcoordinates of the scene (containing static and dynamic objects) at onetime step are transformed in a way that includes the motion of the egovehicle expressed in terms of 3D coordinates. The 3D motion of the egovehicle can be gained using sensors for the longitudinal velocity andyaw rate of the vehicle, both typically accessible e.g. on the CAN busin a car, using a single track model. In the following, the proceduresfor the forward 3D warping (and backward 3D warping, set in brackets)are described.

To be more precise, the 3D world coordinates of the scene at a time stepare predicted into the future [backwards in time] under the assumptionthat all objects in the scene are static. The 3D world coordinates ofthe scene are predicted based on the measured ego vehicle motion inducedlongitudinal and lateral motion as well as yaw rate coming from a singletrack model (refer to FIG. 2). The thereby predicted a priori 3D worldposition is compared to the measured a posteriori 3D world position inthe next time step [previous time step]. The residuum (difference) ofthe comparison between 3D warped and real 3D world position marks alldynamic scene elements. The residuum is given in metric worldcoordinates (i.e., a 3D object motion induced position change).

Additionally, the corresponding pixel position of the detected dynamicobject can be computed by use of a pin hole camera model. Based on thepin-hole camera model the transformation equations to compute the 2Dimage position (u,v) from a given 3D world position (X,Y,Z) are thefollowing (refer to Equations 1 and 2). Here θ_(X), θ_(Y), and θ_(Z) arethe 3 camera angles. Furthermore, t₁, t₂, and t₃ are the three cameraoffsets from the center of the coordinate system. The parameters v₀ andu₀ are the vertical and horizontal principal points of the camera(approximately the center of the image). The parameters f_(u) and f_(v)are the focal lengths normalized to the horizontal and vertical pixelssize (see document [11] for a comprehensive description of the followingequations; the equation are, however, used in another technical contextnamely for the generic improvement of unmarked road detection results).

$\begin{matrix}{u = {{{- f_{u}}\frac{{r_{11}( {X - t_{1}} )} + {r_{12}( {Y - t_{2}} )} + {r_{13}( {Z - t_{3}} )}}{{r_{31}( {X - t_{1}} )} + {r_{32}( {Y - t_{2}} )} + {r_{33}( {Z - t_{3}} )}}} + u_{0}}} & (1) \\{{v = {{{- f_{v}}\frac{{r_{21}( {X - t_{1}} )} + {r_{22}( {Y - t_{2}} )} + {r_{23}( {Z - t_{3}} )}}{{r_{31}( {X - t_{1}} )} + {r_{32}( {Y - t_{2}} )} + {r_{33}( {Z - t_{3}} )}}} + v_{0}}}{{{{with}\mspace{14mu} Y} = 0},{R = {{R_{X}R_{Y}R_{Z}} = \begin{bmatrix}r_{11} & r_{12} & r_{13} \\r_{21} & r_{22} & r_{23} \\r_{31} & r_{32} & r_{33}\end{bmatrix}}},{and}}{r_{11} = {{\cos( \theta_{Z} )}{\cos( \theta_{Y} )}}}{r_{12} = {{{- {\sin( \theta_{Z} )}}{\cos( \theta_{X} )}} + {{\cos( \theta_{Z} )}{\sin( \theta_{Y} )}{\sin( \theta_{X} )}}}}{r_{13} = {{{\sin( \theta_{Z} )}{\sin( \theta_{X} )}} + {{\cos( \theta_{Z} )}{\sin( \theta_{Y} )}{\cos( \theta_{X} )}}}}{r_{21} = {{\sin( \theta_{Z} )}{\cos( \theta_{Y} )}}}{r_{22} = {{{\cos( \theta_{Z} )}{\cos( \theta_{X} )}} + {{\sin( \theta_{Z} )}{\sin( \theta_{Y} )}{\sin( \theta_{X} )}}}}{r_{23} = {{{- {\cos( \theta_{Z} )}}{\sin( \theta_{X} )}} + {{\sin( \theta_{Z} )}{\sin( \theta_{Y} )}{\cos( \theta_{X} )}}}}{r_{31} = {- {\sin( \theta_{Y} )}}}{r_{32} = {{\cos( \theta_{Y} )}{\sin( \theta_{X} )}}}{r_{33} = {{\cos( \theta_{Y} )}{\cos( \theta_{X} )}}}} & (2)\end{matrix}$

Although the approaches handled in document [15] are closer to thedomain of special effects and virtual reality and hence are somewhatdifferent from the scientific community treating intelligenttransportation systems, some technical background is covered that is ofimportance for the present invention. More specifically, the documentdescribes typical challenges a warping algorithm is faced with underego-motion of the camera. Furthermore, the issue of stereo cameracalibration, optical flow computation, occlusion (holes appear asconsequence of image warping) and 3D-coordinate-to-image transformationis covered. All these aspects also play an important role in the presentinvention and hence [15] can serve as a document of reference for betterunderstanding the sub-modules of the present invention.

In the following, the 3D warping approach is described, distinguishingfour processing steps, which are visualized in FIG. 3.

Computing the Measured Cue

The approach described here uses dense 3D data as input, which can bederived e.g. from 2 parallel cameras. In this context, “dense” meansthat for the whole scene data exists. More specifically, the images ofthe two parallel cameras are compared region-wisely based on acorrelation approach. For all pixels in the image a horizontal shift canbe determined, which is called disparity. The disparity D(u,v) isinversely proportional to the depth Z (see Equation 3). Thereby, for allpixels in the image a depth value exists. Based on this a dense depthmap (Z-map), a dense height map Y and X-map that contains the horizontalposition of all pixels in the image can be computed (see Equation 4 and5, refer to FIG. 1). In Equation 4 and 5, t₁ and t₂ define the positionof the camera relative to the coordinate system, B is the horizontaldistance of the cameras (stereo basis), v and u are the vertical andhorizontal pixel position, v₀ and u₀ define the principal point, f_(u)and f_(v) are the vertical and horizontal focal length.

Other dense depth sensors, as for example, Photonic Mixer Device [4] ora dense laser scanner [5] can also be used, as the only input of thesystem. Based on these sensors, the X, Y, and Z-maps (i.e., depth map)representing the scene can be computed as well. Hence, image data is notneeded in the described approach.

$\begin{matrix}{{Z_{stereo}( {u,v} )} = \frac{f_{u}B}{D( {u,v} )}} & (3) \\{{Y_{stereo}( {u,v} )} = {\frac{Z( {v - v_{0}} )}{f_{v}} + t_{2}}} & (4) \\{{X_{stereo}( {u,v} )} = {\frac{Z( {u - u_{0}} )}{f_{u}} + t_{1}}} & (5)\end{matrix}$2. Computing the Predicted Cue

The computation can be done in different ways as well as combinations ofthe different ways, regarding the amount of processed data. Threedifferent computational methods are proposed here, which areiconic-based, voxel-based, and envelope-based computation. In thefollowing the different computational methods are described.

Overview:

The first computational method (2.1) runs completely iconic (i.e., all3D voxels are handled independently). More specifically, this means thatthe known 3D positions of all known points in the environment areadapted taking the 3D vehicle ego motion into account. The 3Dtranslation and rotation of the vehicle is used to 3D warp each pointindependently. Then the predicted (3D warped) and the measured pointsare compared to determine dynamic objects based on the residuum, whichcan be done by any distance metric in 3D space.

The second computational method (2.2) builds up a 3D voxel cloud (i.e.,cloud of 3D segments) of the scene. Different from the first iconicapproach a region based post-processing and modeling within the voxelcloud takes place. Thereby information from neighboring voxels ispropagated and geometric 3D object models are introduced, which correctoutlying voxels. These measures improve the overall accuracy of theapproach.

The third computational method (2.3) reduces the problem complexity byrestricting the processing to one (or a few) surface(s) in theenvironment. In the car domain this could be the road surface. Onlyscene elements on this surface are considered. Based on this informationan envelope is build up, which is called environmental envelope,reducing the complexity of the problem.

2.1 Iconic-Based Method

The 3D world position of all points (u,v) at time step t−1 (for backwardwarping at time t) is read from the maps X(u,v), Y(u,v), and Z(u,v)(refer to FIG. 1) and adapted by the measured ego motion of the carcoming from the CAN bus (translational motion ΔX, ΔY, and rotationalmotion Δθ_(Y)).

Therefore, results are predicted point positions for time step t (forbackward warping at time t−1) that take the vehicle ego motion intoaccount. Every predicted point position was 3D warped assuming acompletely static scene. The point positions are used as predicted cue.

2.2 Voxel-Based Method

A 3D voxel (i.e., a 3D point segment) cloud is build from 3D worldcoordinate maps X, Y, and Z of the scene (refer to FIG. 1). Based on anappropriate discrete 3D grid, the voxel cloud contains holes and pointsare misplaced due to the sensor variance. These inaccuracies can beimproved by 3D environmental models (e.g., determining surfaces andinclude object models) that would close holes and adjust incorrectlyplaced voxels in the cloud. Furthermore, by including domain-specificcontext knowledge, surfaces can be determined by multidimensionalregression (see, e.g. [9]). Such models can be used to close holes andcorrect (i.e., move) voxel coordinates. After that, the voxel cloud oftime step t−1 (for backward warping time t) can be adapted according tothe measured vehicle ego motion. More specifically, the cloud istranslated by αX and αZ as well as rotated by αθ_(Y), which yields thepredicted (i.e., 3D warped) voxel cloud of time step t (for backwardwarping time t−1). After that all point positions of the predicted voxelcloud are used as the predicted cue.

2.3 Region Based Method (Environmental Envelope)

Additional to the computation of the measured cue in part 1, a number ofpoints are extracted, which form the region to detect dynamic objects.More specifically, a surface is chosen resulting in an envelope in theZ,X plane for each time step. Based on this surface, a curve isextracted, which represents the distance of the closest obstacle on thedefined surface and horizontal position.

Put differently, the curve is an environmental envelope of the sceneelements on the defined Y-surface.

For computing this curve the following procedure is carried out: Sinceonly objects positioned on the road surface are of interest, only valueson the height map Y(u,v) that are within the proximity of the heightzero are considered. The so selected height values Y(u,v) are thenmapped to an array representing the X,Z surface by reading out thehorizontal position X(u,v) and depth Z(u,v). The derived X,Z surfacecontains an unconnected point cloud. The mapped height values Y(u,v) areconnected by splines forming the measured cue. This can also be donewith a number of environmental envelopes of different height and alsousing certain height intervals.

Based on this procedure, the measured environmental envelope of theprevious time step t−1 (for backward warping time t) is computed. Theresulting curve of time step t−1 (for backward warping time t) istranslated by ΔX and ΔZ as well as rotated by Δθ_(Y), which results inthe predicted environmental envelope of time step t (for backwardwarping time t−1).

3. Computing Residuum

Computing the difference (residuum) between the measured cue (3D warpedpoint positions for method 1 and 2 (also 3D warped voxel clouds), 3Dwarped environmental envelope for method 3) and the predicted cueresults in residuum's that contain values at positions where dynamicobjects must be present. Moreover, from the residuum the relative motionof the dynamic object in 3D coordinates can be derived. For thecomputation of the residuum every 3D distance metric can be applied.

For methods 1 and 2 the residuum directly defines regions that holddynamic objects as well as the magnitude of the object motion in 3Dcoordinates. For method 3 the residual environmental envelope definesthe motion of dynamic objects in X and Z direction only (height Y isdefined as constant over the whole environmental envelope). Fordetermining the corresponding world position all found dynamic objectsare mapped to the corresponding surface height. This results in linesegments in 3D coordinates, which are positioned on the selected surface(e.g., the road). Hence, these line segments mark the lower border ofall dynamic objects present on the surface.

In order to determine a region for the object, the image plane could beused with a vision based segmentation approach (see [10]) (e.g., basedon similar depth values, structure or color), which takes the foundlower object border into account.

4. Post-Processing

In order to handle artifacts the described procedure might produce,morphological operations on the binarized residuum's are carried out(see [10]). This assures that only larger regions of residuum's areinterpreted as being dynamic. Furthermore, when using camera-based depthdata a quality map is derived, during the computation of the stereodisparity based on Normalized Cross-Correlation (NCC). This quality mapassesses how good the NCC match for each pixel and its region was.Therefore, this quality map can be used to weight the values in theresiduum. Furthermore, by including vehicle domain specific context(top-down knowledge), all objects that are known to be static (e.g.,found road segments) can be sorted out, easing the 3D warping procedure.Additionally, data from a satellite-based navigation system can beincorporated providing further knowledge of the scene, e.g., 3D GPSposition for static scene content)

The described computation methods have different advantages anddrawbacks making them more or less applicable in different domains andapplications, as summarized in the following Table 1. Table 2 summarizesthe differences between existing pixel based 2D warping procedures andthe here proposed 3D warping approach on 3D coordinates.

Prior Art:

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TABLE 1 Comparison of the proposed computation methods for detectingdynamic objects Voxel Region based Optical flow Iconic cloud 3D warpingbased 2D 3D 3D (environmental warping warping warping envelope)Advantages No camera Accurate Very Fast para-meters accurate(calibration) Relative motion of detected objects necessary in worldcoordinates is determined No further Dynamic object moving in thesensors direction of the ego vehicle can be necessary detected DrawbackOnly objects Slow Lower accuracy with horizontal Needs dense depth data(vision motion based, PMD, laser scanner), the components denseness andquality of such depth Slow data could be improved by Low satellite-basednavigation data, accurateness e.g., 3D GPS position for static scenecontent)

TABLE 2 Conceptional differences between pixel based 2D warping withoptical flow and 3D warping on 3D coordinates Optical flow based 2D 3Dwarping on Criterion warping 3D coordinates Input data Consecutiveimages of a Dense 3D data monocular camera, dense 3D data ComputationalPixels on the image 3D world positions level Detectable Lateral objectmotion Longitudinal and abject motion (i.e., orthogonal to the lateralobject motion motion of ego camera (i.e., motion in the vehicle)direction of the ego camera vehicle and orthogonal to it). Output dataDetected object motion Detected object motion in pixels on the image in3D coordinates plane between two consecutive images

1. A method for detecting dynamic objects in 3D scene representation ofa driver assistance system for a vehicle, the method involving workingwith 3D data in every method step, the method comprising the steps of:supplying signals from internal and external sensors of a vehicle,wherein at least one external sensor is a 3D sensor supplying 3D data,wherein the at least one external sensor supplies data from a vehicleenvironment and at least one internal sensor provides data from thevehicle; generating a 3D scene model based on the supplied 3D data,wherein every sensed object in the 3D scene model is represented in a 3Dspace as an object in 3D world coordinates of the 3D space, a depth ofthe 3D space being one dimensional; creating a predicted 3D scene modelby predicting 3D positions of all objects in the 3D scene model in the3D world coordinates taking into account a measured ego motion of thevehicle; detecting locations of dynamic objects in the represented 3Dscene as well as motion parameters thereof, respectively, expressed inthe 3D world coordinates, by calculating a residuum between thepredicted 3D scene model and the 3D scene model in the 3D worldcoordinates using a 3D distance metric; and storing the detected dynamicobjects and the motion parameters thereof.
 2. The method according toclaim 1, wherein the step of creating the predicted 3D scene model usesinformation gained from sensors for the longitudinal velocity and yawrate of the vehicle.
 3. The method according to claim 1, wherein thestep of creating the predicted 3D scene model comprises one or more ofthe following steps: a) iconic 3D warping directly on the 3D worldcoordinates computed the sensor signals, b) using top-down knowledge ofscene knowledge, wherein known static objects are handled independently,c) region-based 3D warping that allows the inclusion of scene knowledgein form of environmental models and plane models in order to decreasenoise in the sensor signals, and/or d) using an environmental envelopefor planes of interest to reduce the complexity of the 3D warpingprocedure.
 4. The method according to claim 1, wherein information froma 3D depth sensor is used to generate the 3D data, the 3D depth sensorcomprising a rotating laser scanner.
 5. The method according to claim 1,wherein information from a 2D depth sensor is used to generate the 3Ddata, the 2D depth sensor comprising a photonic mixer device.
 6. Themethod according to claim 1, wherein information from a 1D depth sensoris used to generate the 3D data, the 1D depth sensor comprising a laserscanner.
 7. The method according to claim 1, wherein information from asatellite-based navigation system is used to generate the 3D data and/orfor generating environmental information.
 8. A driver assistancecomputing device, designed to execute instructions stored in anon-transitory computer readable medium, to carry out the methodaccording to claim
 1. 9. A vehicle being equipped with a driverassistance computing device according to claim
 7. 10. A computer programembedded on a non-transitory computer readable medium, the computerreadable medium implementing a method according to claim 1 when run on acomputing device.
 11. A driver assistance system for a vehicle with amodel generation apparatus working with 3D data, the model generationapparatus comprising: at least one 3D sensor for supplying 3D data tothe driver assistance system; computing means for generating a 3D scenemodel in 3D world coordinates based on the 3D data of the at least one3D sensor for creating a predicted 3D scene model by predicting 3Dpositions of all objects in the 3D scene model taking into account ameasured ego motion of the vehicle, and for detecting locations ofdynamic objects in the represented 3D scene as well as motion parametersthereof, respectively, expressed in the 3D world coordinates, bycalculating a residuum between the predicted 3D scene model and the 3Dscene model in the 3D world coordinates using a 3D distance metric;storing means for storing the detected dynamic objects and the motionparameters thereof; means for determining whether to carry out an driverassistance action based on the detected dynamic objects; and means forcarrying out a driver assistance action.
 12. The system according toclaim 10, wherein the at least one 3D sensor comprises video cameras.13. The system according to claim 10, wherein the driver assistanceaction is an emission of a warning message.
 14. A driver assistancedevice designated to carry out a method according to claim
 1. 15. Avehicle equipped with a driver assistance device according to claim 11.